User Manual

RoboClaw Series

Brushed DC Motor Controllers

RoboClaw Series User Manual

BASICMICRO

42 - Buffered M2 Drive With Signed Speed And Distance

Drive M2 with a speed and distance value. The sign indicates which direction the motor will run.

The distance value is not signed. This command is buffered. Each motor channel M1 and M2

have separate buffers. This command will execute immediately if no other command for that

channel is executing, otherwise the command will be buffered in the order it was sent. Any

buffered or executing command can be stopped when a new command is issued by setting the

Buffer argument. All values used are in quad pulses per second.

Send: [Address, 42, Speed(4 Bytes), Distance(4 Bytes), Buffer, CRC(2 bytes)]

Receive: [0xFF]

The Buffer argument can be set to a 1 or 0. If a value of 0 is used the command will be buffered

and executed in the order sent. If a value of 1 is used the current running command is stopped,

any other commands in the buffer are deleted and the new command is executed.

43 - Buffered Drive M1 / M2 With Signed Speed And Distance

Drive M1 and M2 with a speed and distance value. The sign indicates which direction the motor

will run. The distance value is not signed. This command is buffered. Each motor channel M1

and M2 have separate buffers. This command will execute immediately if no other command for

that channel is executing, otherwise the command will be buffered in the order it was sent. Any

buffered or executing command can be stopped when a new command is issued by setting the

Buffer argument. All values used are in quad pulses per second.

Send: [Address, 43, SpeedM1(4 Bytes), DistanceM1(4 Bytes),

SpeedM2(4 Bytes), DistanceM2(4 Bytes), Buffer, CRC(2 bytes)]

Receive: [0xFF]

The Buffer argument can be set to a 1 or 0. If a value of 0 is used the command will be buffered

and executed in the order sent. If a value of 1 is used the current running command is stopped,

any other commands in the buffer are deleted and the new command is executed.

44 - Buffered M1 Drive With Signed Speed, Accel And Distance

Drive M1 with a speed, acceleration and distance value. The sign indicates which direction the

motor will run. The acceleration and distance values are not signed. This command is used to

control the motors top speed, total distanced traveled and at what incremental acceleration value

to use until the top speed is reached. Each motor channel M1 and M2 have separate buffers. This

command will execute immediately if no other command for that channel is executing, otherwise

the command will be buffered in the order it was sent. Any buffered or executing command can

be stopped when a new command is issued by setting the Buffer argument. All values used are

in quad pulses per second.

Send: [Address, 44, Accel(4 bytes), Speed(4 Bytes), Distance(4 Bytes),

Buffer, CRC(2 bytes)]

Receive: [0xFF]

The Buffer argument can be set to a 1 or 0. If a value of 0 is used the command will be buffered

and executed in the order sent. If a value of 1 is used the current running command is stopped,

any other commands in the buffer are deleted and the new command is executed.